#!/bin/bash
SCRIPT_LOCATION=$(dirname $(readlink -f $0));
if [ -f $SCRIPT_LOCATION/rip-environment ] && [ -z "$EMC2_HOME" ]; then
    . $SCRIPT_LOCATION/rip-environment
fi

T=`mktemp -d`
trap 'cd /; [ -d $T ] && rm -rf $T' SIGINT SIGTERM EXIT
cd $T

calc() { echo "scale=1; $1" | bc; }
icalc() { echo "scale=0; ($1)*1" | bc | sed 's/\..*//'; }

parse_time () {
    case $1 in
    -)   echo "0" ;;
    *ns) icalc "${1%ns}" ;;
    *us|*µs) icalc "1000*${1%us}" ;;
    *ms) icalc "1000*1000*${1%ms}" ;;
    *s)  icalc "1000*1000*1000*${1%s}" ;;
    *)   if [ $1 -lt 1000 ]; then icalc "1000*$1"; else icalc "$1"; fi ;;
    esac
}

human_time () {
    if [ "$1" -eq 0 ]; then echo "-"
    elif [ "$1" -ge 1000000000 ]; then echo "$(calc $1/1000/1000/1000)s"
    elif [ "$1" -ge 1000000 ]; then echo "$(calc $1/1000/1000)ms"
    elif [ "$1" -ge 1000 ]; then echo "$(calc $1/1000)µs"
    else echo "$1ns"
    fi
}

#BASE=$(parse_time 25us); SERVO=$(parse_time 1ms)
BASE=0; SERVO=$(parse_time 1ms)
case $# in
0) ;;
1) BASE=$(parse_time $1) ;;
2) BASE=$(parse_time $1); SERVO=$(parse_time $2) ;;
*)
    echo "Usage: latency-test [base-period [servo-period]]"
    echo "Default: latency-test 1ms"
    echo "Times may be specified with suffix \"s\", \"ms\", \"us\" \"µs\", or \"ns\""
    echo "Times without a suffix and less than 1000 are taken to be in us;"
    echo "other times without a suffix are taken to be in ns"
    echo ""
    echo "The worst-case latency seen in any run of latency-test"
    echo "is written to the file ~/.latency"
    exit 1
esac

if [ "$BASE" -gt "$SERVO" ]; then TEMP=$BASE; BASE=$SERVO; SERVO=$TEMP; fi
if [ "$BASE" -eq "$SERVO" ]; then BASE=0; fi

BASE_HUMAN=$(human_time $BASE)
SERVO_HUMAN=$(human_time $SERVO)
if [ $BASE -eq 0 ]; then
cat > lat.hal <<EOF
newthread slow $SERVO ${CGNAME:+cgname=$CGNAME}
loadrt timedelta count=1
addf timedelta.0 slow
start
loadusr -Wn lat pyvcp lat.xml
net sl timedelta.0.max => lat.sl
net sj timedelta.0.jitter => lat.sj
net st timedelta.0.out => lat.st
net reset lat.reset => timedelta.0.reset
waitusr lat
loadusr -w bash latexit.sh
EOF

cat > lat.xml <<EOF
<pyvcp>
<title title="Machinekit / HAL Latency Test"/>
<axisoptions/>
<table>
<tablerow/><tablespan columns="5"/><label wraplength="5i" justify="left">
<text>
"""Let this test run for a few minutes, then note the maximum Jitter.  You will use it while configuring machinekit.

While the test is running, you should "abuse" the computer. Move windows around on the screen. Surf the web. Copy some large files around on the disk. Play some music. Run an OpenGL program such as glxgears. The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are."""
</text>
</label>
<tablerow/><label/><label text="Max Interval (ns)" font="Helvetica 12"/><label text="Max Jitter (ns)" font="Helvetica 12 bold"/><label text="Last interval (ns)" font="Helvetica 12"/>
<tablerow/><label text="Servo thread ($SERVO_HUMAN):"/><s32 halpin="sl"/><s32 halpin="sj" font="Helvetica 12 bold"/><s32 halpin="st"/>
<tablerow/><button text="Reset Statistics" halpin="reset"/>
</table>
</pyvcp>
EOF

cat > latexit.sh <<EOF
L=\$((halcmd gets sj
    if [ -f $HOME/.latency ]; then cat $HOME/.latency; fi
    ) | sort -n | tail -1)
echo \$L > $HOME/.latency
EOF

else
cat > lat.hal <<EOF
newthread fast $BASE
newthread slow $SERVO
loadrt timedelta count=2
addf timedelta.0 fast
addf timedelta.1 slow
start
loadusr -Wn lat pyvcp lat.xml
net sl timedelta.1.max => lat.sl
net sj timedelta.1.jitter => lat.sj
net st timedelta.1.out => lat.st
net bl timedelta.0.max => lat.bl
net bj timedelta.0.jitter => lat.bj
net bt timedelta.0.out => lat.bt
net reset lat.reset => timedelta.0.reset timedelta.1.reset
waitusr lat
loadusr -w bash latexit.sh
EOF

cat > lat.xml <<EOF
<pyvcp>
<title title="Machinekit / HAL Latency Test"/>
<axisoptions/>
<table>
<tablerow/><tablespan columns="5"/><label wraplength="5i" justify="left">
<text>
"""Let this test run for a few minutes, then note the maximum Jitter.  You will use it while configuring machinekit.

While the test is running, you should "abuse" the computer. Move windows around on the screen. Surf the web. Copy some large files around on the disk. Play some music. Run an OpenGL program such as glxgears. The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are."""
</text>
</label>
<tablerow/><label/><label text="Max Interval (ns)" font="Helvetica 12"/><label text="Max Jitter (ns)" font="Helvetica 12 bold"/><label text="Last interval (ns)" font="Helvetica 12"/>
<tablerow/><label text="Servo thread ($SERVO_HUMAN):"/><s32 halpin="sl"/><s32 halpin="sj" font="Helvetica 12 bold"/><s32 halpin="st"/>
<tablerow/><label text="Base thread ($BASE_HUMAN):"/><s32 halpin="bl"/><s32 halpin="bj" font="Helvetica 12 bold"/><s32 halpin="bt"/>
<tablerow/><button text="Reset Statistics" halpin="reset"/>
</table>
</pyvcp>
EOF

cat > latexit.sh <<EOF
L=\$((halcmd gets sj; halcmd gets bj;
    if [ -f $HOME/.latency ]; then cat $HOME/.latency; fi
    ) | sort -n | tail -1)
echo \$L > $HOME/.latency
EOF
fi


halrun lat.hal
